CN106938595B - A kind of amphibious sandy beach spherical shape tour bus of servo motor bias direct-drive type - Google Patents
A kind of amphibious sandy beach spherical shape tour bus of servo motor bias direct-drive type Download PDFInfo
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- CN106938595B CN106938595B CN201710138515.1A CN201710138515A CN106938595B CN 106938595 B CN106938595 B CN 106938595B CN 201710138515 A CN201710138515 A CN 201710138515A CN 106938595 B CN106938595 B CN 106938595B
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- servo motor
- car door
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Seats For Vehicles (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
A kind of amphibious sandy beach spherical shape tour bus of servo motor bias direct-drive type, including spherical shell, spherical shell two sides are mounted on the support frame of two sides by ball set, the side A car door are equipped on the outside of the support frame of side, the side A car door is fixed as one with spherical shell；The side B car door is installed on the outside of the support frame of the other side, the side B car door is connect by hinge with spherical shell, it can be opened in vehicle travel process for people's vehicles passing in and out, the door lock of the side B car door has self-locking function, and car door is equivalent to after shutting is fixed together the side B car door and spherical shell；In the side A, door trim has vehicle first driving device, in the side B, door trim has the second driving device of vehicle, chassis is housed on the support frame of two sides, sunshading board, seat and desk are connected with above chassis, vehicle steering device is installed on sunshading board, vehicle balance regulating device is connected with below chassis, the present invention can be realized to travel in water, improves the enjoyment of driving.
Description
Technical field
The present invention relates to sandy beach tour bus technical field more particularly to a kind of amphibious sand of servo motor bias direct-drive type
Beach spherical shape tour bus.
Background technique
Raising with people to comfort and the requirement of sightseeing enjoyment is ridden, more and more tourists like enjoying simultaneously
Sightseeing experience on sandy beach and sea.Conventional sandy beach tour bus has very strong cross-country ability, is adapted to sandy beach, river shoal
It etc. a variety of landform, but generally can not paddle, the use scope of vehicle is caused to be very limited；And conventional sandy beach tour bus
There is also volume heavinesses, and riding stability is poor, ride a series of problems, such as comfort is poor, sightseeing enjoyment is bad.
Summary of the invention
In order to overcome the disadvantages of the above prior art, the purpose of the present invention is to provide a kind of servo motor bias direct-drive types
Amphibious sandy beach spherical shape tour bus, can be realized and travel in water, and volume is slim and graceful, expand the scope of application of vehicle and raising
The enjoyment driven.
In order to achieve the above object, the invention adopts the following technical scheme:
A kind of amphibious sandy beach spherical shape tour bus of servo motor bias direct-drive type, including spherical shell 1,1 two sides of spherical shell pass through
Ball set 2 is mounted on the support frame 5 of two sides, and the outside of the support frame 5 of side is equipped with the side A car door 4, the side A car door 4 and spherical shell
1 is fixed as one, and is not turned in vehicle travel process；The outside of the support frame 5 of the other side is equipped with the side B car door 42, the side B vehicle
Door 42 is connect by hinge with spherical shell 1, can be opened in vehicle travel process for people's vehicles passing in and out, the door lock of the side B car door 42
With self-locking function, car door is equivalent to after shutting is fixed together the side B car door 42 and spherical shell 1；In the side A, car door 4 is provided with vehicle
First driving device 10, in the side B, car door 42 is provided with the second driving device of vehicle 39, and chassis is housed on the support frame 5 of two sides
9, the top on chassis 9 is connected with sunshading board 6, seat 7 and desk 8, and vehicle steering device 3 is equipped on sunshading board 6, chassis 9
Lower section is connected with vehicle balance regulating device 11.
The quadrangle on the chassis 9 and the support frame 5 of two sides connect, and 1 moment of spherical shell is rotating in vehicle travel process, leads to
It crosses ball set 2 to rotate in support frame 5, guarantees that chassis 9 is in horizontality always.
The vehicle steering device 3 includes the first servo motor 13 connecting with sunshading board 6, and first servo motor 13 is defeated
Shaft is connected with flywheel 12 is turned to.
The vehicle first driving device 10 includes the second servo motor 14, the stator of the second servo motor 14 and the side A
Car door 4 is connected, the rotor of output shaft axle of the second servo motor 14 and the first eccentric 15 connection of pendulum, and the is placed in the first eccentric pendulum 15
Power supply needed for two servo motors 14；The second driving device of vehicle 39 includes third servo motor 41, third servo motor 41
Stator and the side B car door 42 are connected, the output shaft of third servo motor 41 and the second eccentric 40 connection of pendulum, put in the second eccentric pendulum 40
Power supply needed for setting third servo motor 41.
The vehicle balance regulating device 11 includes the 4th servo motor 20, the output shaft of the 4th servo motor 20 and the
One ball-screw 23 connects, and is equipped with the first feed screw nut 24, the first feed screw nut 24 and clump weight in first ball screw 23
25 connections, 23 one end of first ball screw are supported in first bearing support 22 by rolling bearing, first ball screw 23
The other end is supported in second bearing support 26 by rolling bearing, and first bearing support 22 and second bearing support 26 connect
In the lower section of supporting plate 19；
Pallet support 17 is installed, pallet support 17 is mounted on the second feed screw nut 34, the second nut above supporting plate 19
34 are driven by the second ball-screw 32, and the second ball-screw 32 and first ball screw 23 are arranged in ten word directions, the second ball
The output axis connection of lead screw 32 and the 5th servo motor 29,32 one end of the second ball-screw are supported on third by rolling bearing
In bearing spider 31,32 other end of the second ball-screw is supported in fourth bearing support 36 by rolling bearing, third axis
It holds support 31 and fourth bearing support 36 is connect with chassis 9；
It is connected with the first guide supporting 16 and the second guide supporting 27 on chassis 9, is equipped in the first guide supporting 16
One slide rail 18 is equipped with the second slide rail 28 in second guide supporting 27, is equipped with first on the first slide rail 18
Sliding block 33 and the second sliding block 35 are equipped with third sliding block 37 and Four-slider 38, the first sliding block 33, on second slide rail 28
Two sliding blocks 35, third sliding block 37 and Four-slider 38 are connect with supporting plate 19, and the second roller screw 32 passes through the second feed screw nut 34
Pallet support 17, supporting plate 19 and four sliding blocks are driven to move on the first slide rail 18 and the second slide rail 28.
Compared with the existing technology, the invention has the following advantages that
1, compared with conventional beach buggy, the present invention is a leakproofness entirety, so having can both travel in land
The advantages of can sailing on the water again, increases the enjoyment of traveling.
2, compared with other amphibious beach buggies, the present invention does not need additional without the part outside being directly exposed to
Increase device of paddling, directly spherical tour bus can be opened in water, have the advantages that mechanism is simple, volume is slim and graceful.
3, the present invention is directly driven using servo motor, no pollution to the environment, therefore has control simply, environmentally protective
Advantage.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is the three-dimensional view of chassis supports in Fig. 1.
Fig. 3 is the three-dimensional view of vehicle steering device 3 in Fig. 1.
Fig. 4 is the three-dimensional view of vehicle first driving device 10 in Fig. 1.
When Fig. 5 in Fig. 1 the second driving device of vehicle 39 three-dimensional view.
Fig. 6 is the left view of vehicle balance regulating device in Fig. 1.
Fig. 7 is the top view of vehicle balance regulating device in Fig. 1.
Specific embodiment
Below in conjunction with attached drawing, the present invention is described in further detail.
Referring to Fig.1, the amphibious sandy beach spherical shape tour bus of a kind of servo motor bias direct-drive type, including spherical shell 1, spherical shell 1
Two sides are mounted on the support frame 5 of two sides by ball set 2, and the outside of the support frame 5 of side is equipped with the side A car door 4, the side A vehicle
Door 4 is fixed as one with spherical shell 1, is not turned in vehicle travel process；The outside of the support frame 5 of the other side is equipped with the side B vehicle
The side 42, B of door car door 42 is connect by hinge with spherical shell 1, can be opened in vehicle travel process for people's vehicles passing in and out, the side B vehicle
The door lock of door 42 has self-locking function, and car door is equivalent to after shutting is fixed together the side B car door 42 and spherical shell 1；In the side A car door
4 are provided with vehicle first driving device 10, and in the side B, car door 42 is provided with the second driving device of vehicle 39, on the support frame 5 of two sides
Equipped with chassis 9, the top on chassis 9 is connected with sunshading board 6, seat 7 and desk 8, is equipped with vehicle steering device 3 on sunshading board 6,
The lower section on chassis 9 is connected with vehicle balance regulating device 11.
Referring to Figures 1 and 2, the quadrangle on the chassis 9 is connected by bolt and the support frame 5 of two sides, vehicle driving mistake
1 moment of spherical shell is rotating in journey, is rotated in support frame 5 by ball set 2, guarantees that chassis 9 is in horizontality always, it is ensured that
The rider comfort of passenger.
Referring to Figure 1 and Figure 3, the vehicle steering device 3 includes the first servo being connect with sunshading board 6 by bolt group
Motor 13,13 output shaft of first servo motor are connected with flywheel 12 is turned to；Spherical tour bus be required in the process of moving into
Row pivot stud, the control of first servo motor 13 turns to the rotation speed of flywheel 12 when pivot stud, to obtain reaction force
Square is to complete the change of spherical tour bus driving direction.
Referring to Fig.1 and Fig. 4, the vehicle first driving device 10 includes second watching with car door by the way that bolt group is connected
Motor 14 is taken, 15 connection of 14 output shaft of the second servo motor and eccentric pendulum directly drives the first eccentric 15 rotation of pendulum, and first is eccentric
Power supply needed for being placed the second servo motor 14 in pendulum 15, when the second servo motor 14 is powered, motor stator acts on electricity
The angle that certain torque drives the first eccentric 15 rotation of pendulum certain on machine rotor, it is identical that rotor reacts on motor stator
Torque, torque is transferred to the side A car door 4 and spherical shell by motor stator and drives vehicle driving；When normal vehicle operation, second is watched
Taking the revolving speed that motor 14 is kept constant makes the rotational angle of eccentric pendulum 15 constant, so that vehicle drives at a constant speed.
Referring to Fig.1 and Fig. 5, second driving device of vehicle 39 include third servo motor 41, third servo motor
41 stator and the side B car door 42 is connected, the output shaft of third servo motor 41 and the second eccentric 40 connection of pendulum, the second eccentric pendulum 40
In be placed third servo motor 41 needed for power supply, third servo motor 41 be powered operation after, motor stator acts on electricity
The angle that certain torque drives the second eccentric 40 rotation of pendulum certain on machine rotor, it is identical that rotor reacts on motor stator
Torque, torque is transferred to the side B car door 42 and spherical shell 1 by motor stator and drives vehicle driving.When normal vehicle operation, third
The revolving speed that servo motor 41 is kept constant makes the rotational angle of the second eccentric pendulum 40 constant, so that vehicle drives at a constant speed.
With reference to Fig. 1, Fig. 6 and Fig. 7, the vehicle balance regulating device 11 includes the 4th servo motor 20, the 4th servo
The output shaft of motor 20 is connect by first shaft coupling 21 with first ball screw 23, is equipped with first in first ball screw 23
Feed screw nut 24, the first feed screw nut 24 and clump weight 25 are linked together by bolt group, and 23 one end of first ball screw is logical
It crosses rolling bearing to be supported in first bearing support 22,23 other end of first ball screw is supported on by rolling bearing
In two bearing spiders 26, first bearing support 22 and second bearing support 26 are connected to the lower section of supporting plate 19 by bolt group；
Pallet support 17 is installed, pallet support 17 is mounted on the second feed screw nut 34 by bolt group above supporting plate 19
On, the second nut 34 is driven by the second ball-screw 32, and the second ball-screw 32 and first ball screw 23 are in ten word direction cloth
It sets, the second ball-screw 32 passes through the output axis connection of second shaft coupling 30 and the 5th servo motor 29, the second ball-screw 32
One end is supported in 3rd bearing support 31 by rolling bearing, and 32 other end of the second ball-screw is propped up by rolling bearing
In fourth bearing support 36,3rd bearing support 31 and fourth bearing support 36 are connect by bolt group with chassis 9 for support；
First guide supporting 16 and the second guide supporting 27, the first guide supporting 16 are connected with by bolt group on chassis 9
On the first slide rail 18 is installed, the second slide rail 28 is installed, on the first slide rail 18 in second guide supporting 27
First sliding block 33 and the second sliding block 35 are installed, third sliding block 37 and Four-slider 38 are installed on second slide rail 28, the
One sliding block 33, the second sliding block 35, third sliding block 37 and Four-slider 38 are connected by screw with supporting plate 19, the second roller screw 32
Pallet support 17, supporting plate 19 and four sliding blocks can be driven sliding in the first slide rail 18 and second by the second feed screw nut 34
It is moved on dynamic guide rail 28, when vehicle driving is at the road surfaces such as slope surface, uneven, the 4th servo motor 20 and the 5th servo motor
29 act synergistically so that the adjustable any position in 9 plane of chassis of clump weight 25, so that 25 pairs of spherical shapes of clump weight
The torque that the car weight heart generates is equal with the torque that power suffered by spherical vehicle other parts generates spherical vehicle center of gravity, guarantees chassis
9 are in horizontality always.
The operation principle of the present invention is that:
The driving of vehicle is realized by the second servo motor 14 and third servo motor 41 being mounted in the car door of left and right,
Specific driving process acts on one on rotor for motor stator after the second servo motor 14 and the energization of third servo motor 41
Fixed torque, rotor react on the identical torque of motor stator, and torque is transferred to the side A car door 4, B by motor stator
Side car door 42 and spherical shell 1 are to drive vehicle driving.
The steering of vehicle is by first servo motor 13 and to turn to the realization of flywheel 12, turns particularly to process and watches for first
The rotation speed that the control of motor 13 turns to flywheel 12 is taken, to obtain the moment of reaction to complete spherical tour bus driving direction
Change.
The balance adjustment of vehicle chassis is by the 4th servo motor 20, the 5th servo motor 29, the first roller screw 23
It is realized jointly with the second ball-screw 32, wherein first ball screw 23 and the second ball-screw 32 are specifically adjusted in being arranged cross
Section process is that the 4th servo motor 20 passes through the first roller screw 23 and the first feed screw nut 24 realizes clump weight 25 in X direction
Movement, the 4th servo motor 20, the first roller screw 23, the first feed screw nut 24 and clump weight 25 are installed on supporting plate 19,
Supporting plate 19 is connect by pallet support 17 with the second feed screw nut 34, and the 5th servo motor 29 passes through the second roller screw 32 and second
Feed screw nut 34 realizes the moving along Y-direction of supporting plate 19, thus the 4th servo motor 20 and the 5th servo motor 29 synergistic effect
Any position that may make clump weight 25 adjustable to 9 plane of chassis, so that clump weight 25 produces spherical vehicle center of gravity
Raw torque is equal with the torque that power suffered by spherical vehicle other parts generates spherical vehicle center of gravity, guarantees that chassis 9 is located always
In horizontality.
Claims (4)
1. a kind of amphibious sandy beach spherical shape tour bus of servo motor bias direct-drive type, including spherical shell (1), it is characterised in that: ball
Shell (1) two sides are mounted on the support frame (5) of two sides by ball set (2), are equipped with the side A on the outside of the support frame (5) of side
Car door (4), the side A car door (4) are fixed as one with spherical shell (1), are not turned in vehicle travel process；The support frame of the other side
(5) side B car door (42) is installed, the side B car door (42) is connect by hinge with spherical shell (1), in vehicle travel process on the outside of
It can open for people's vehicles passing in and out, the door lock of the side B car door (42) has self-locking function, and car door is equivalent to the side B car door after shutting
(42) it is fixed together with spherical shell (1)；Vehicle first driving device (10) are provided in the side A car door (4), in the side B car door (42)
It is provided with the second driving device of vehicle (39), chassis (9) are housed on the support frame (5) of two sides, chassis is connected with screening above (9)
Positive plate (6), seat (7) and desk (8) are equipped with vehicle steering device (3) on sunshading board (6), and chassis is connected with below (9)
Vehicle balance regulating device (11)；
The vehicle first driving device (10) includes the second servo motor (14), the stator and A of the second servo motor (14)
Side car door (4) is connected, the rotor of output shaft axle of the second servo motor (14) and the first eccentric pendulum (15) connection, the first eccentric pendulum (15)
In be placed the second servo motor (14) needed for power supply；The second driving device of vehicle (39) includes third servo motor (41),
The stator and the side B car door (42) of third servo motor (41) are connected, the output shaft of third servo motor (41) and the second eccentric pendulum
(40) it connects, power supply needed for being placed third servo motor (41) in the second eccentric pendulum (40).
2. the amphibious sandy beach spherical shape tour bus of a kind of servo motor bias direct-drive type according to claim 1, feature
Be: the quadrangle on the chassis (9) and the support frame (5) of two sides connect, spherical shell (1) moment rotation in vehicle travel process
, the rotation in support frame (5) by ball set (2) guarantees that chassis (9) are in horizontality always.
3. the amphibious sandy beach spherical shape tour bus of a kind of servo motor bias direct-drive type according to claim 1, feature
Be: the vehicle steering device (3) includes the first servo motor (13) connecting with sunshading board (6), first servo motor
(13) output shaft is connected with flywheel (12) are turned to.
4. the amphibious sandy beach spherical shape tour bus of a kind of servo motor bias direct-drive type according to claim 1, feature
Be: the vehicle balance regulating device (11) includes the 4th servo motor (20), the output shaft of the 4th servo motor (20)
It is connect with first ball screw (23), the first feed screw nut (24), the first feed screw nut is installed in first ball screw (23)
(24) it is connected with clump weight (25), first ball screw (23) one end is supported on first bearing support (22) by rolling bearing
Interior, first ball screw (23) other end is supported in second bearing support (26) by rolling bearing, first bearing support
(22) and second bearing support (26) is connected to the lower sections of supporting plate (19)；
It being equipped with pallet support (17) above supporting plate (19), pallet support (17) is mounted on the second feed screw nut (34), and second
Nut (34) is driven by the second ball-screw (32), and the second ball-screw (32) and first ball screw (23) are in ten word direction cloth
It sets, the output axis connection of the second ball-screw (32) and the 5th servo motor (29), the second ball-screw (32) one end passes through rolling
Dynamic bearing is supported in 3rd bearing support (31), and the second ball-screw (32) other end is supported on the by rolling bearing
In four bearing spiders (36), 3rd bearing support (31) and fourth bearing support (36) are connect with chassis (9)；
The first guide supporting (16) and the second guide supporting (27) are connected on chassis (9), the first guide supporting is installed on (16)
Have the first slide rail (18), is equipped in the second guide supporting (27) the second slide rail (28), the first slide rail (18)
On the first sliding block (33) and the second sliding block (35) are installed, third sliding block (37) and the 4th are installed on second slide rail (28)
Sliding block (38), the first sliding block (33), the second sliding block (35), third sliding block (37) and Four-slider (38) are connect with supporting plate (19),
Second roller screw (32) is by the second feed screw nut (34) drive pallet support (17), supporting plate (19) and four sliding blocks first
It is moved on slide rail (18) and the second slide rail (28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710138515.1A CN106938595B (en) | 2017-03-09 | 2017-03-09 | A kind of amphibious sandy beach spherical shape tour bus of servo motor bias direct-drive type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710138515.1A CN106938595B (en) | 2017-03-09 | 2017-03-09 | A kind of amphibious sandy beach spherical shape tour bus of servo motor bias direct-drive type |
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| Publication Number | Publication Date |
|---|---|
| CN106938595A CN106938595A (en) | 2017-07-11 |
| CN106938595B true CN106938595B (en) | 2019-01-29 |
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| CN201710138515.1A Active CN106938595B (en) | 2017-03-09 | 2017-03-09 | A kind of amphibious sandy beach spherical shape tour bus of servo motor bias direct-drive type |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109481196B (en) * | 2018-12-11 | 2020-08-04 | 西安交通大学 | Medical patient transfer bed based on servo motor direct drive |
| RU2736834C1 (en) * | 2019-12-03 | 2020-11-20 | Дидюк Николай Николаевич | Method of high-density plane displacement in gravity conditions |
| CN112706571B (en) * | 2021-01-20 | 2023-05-12 | 上海遨菲克科技有限公司 | Amphibious robot with central symmetry structure |
| CN113091526B (en) * | 2021-02-05 | 2022-08-19 | 西安近代化学研究所 | Automatic adjusting device for optimal attitude of warhead under any attack angle of missile |
| CN113217749B (en) * | 2021-04-26 | 2024-02-20 | 中筑建达(北京)建设有限公司 | Pipeline operation robot |
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| CN1263010A (en) * | 1999-02-10 | 2000-08-16 | 宋伟 | Amphibious bicycle |
| CN2889764Y (en) * | 2006-03-03 | 2007-04-18 | 邱阳 | Amphibious dodgem |
| CN103358839A (en) * | 2013-08-05 | 2013-10-23 | 战强 | Amphibious spherical exploration robot |
| CN104960588A (en) * | 2015-07-27 | 2015-10-07 | 王学贵 | Spherical walking platform |
| CN105196814A (en) * | 2015-10-13 | 2015-12-30 | 宋建国 | Ball-shaped rolling land and water scooter |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1134861A (en) * | 1997-07-18 | 1999-02-09 | Maeda Corp | Ropeway device for both aerial and underwater use |
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2017
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1263010A (en) * | 1999-02-10 | 2000-08-16 | 宋伟 | Amphibious bicycle |
| CN2889764Y (en) * | 2006-03-03 | 2007-04-18 | 邱阳 | Amphibious dodgem |
| CN103358839A (en) * | 2013-08-05 | 2013-10-23 | 战强 | Amphibious spherical exploration robot |
| CN104960588A (en) * | 2015-07-27 | 2015-10-07 | 王学贵 | Spherical walking platform |
| CN105196814A (en) * | 2015-10-13 | 2015-12-30 | 宋建国 | Ball-shaped rolling land and water scooter |
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| CN106938595A (en) | 2017-07-11 |
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